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<div class="title">main_helper.cpp</div>  </div>
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<a href="../../d3/dfa/main__helper_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d6/dd5/_hardware_bridge_8h.html">HardwareBridge.h</a>&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../db/d55/_simulation_bridge_8h.html">SimulationBridge.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d6/da5/main__helper_8h.html">main_helper.h</a>&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d3/dff/_robot_controller_8h.html">RobotController.h</a>&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../dd/d6d/_segfault_handler_8h.html">Utilities/SegfaultHandler.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="../../d3/dfa/main__helper_8cpp.html#aad7b55f8a28b7141ec71d94bcc0debb6">   19</a></span>&#160;<a class="code" href="../../d6/d5c/struct_master_config.html">MasterConfig</a> <a class="code" href="../../d3/dfa/main__helper_8cpp.html#aad7b55f8a28b7141ec71d94bcc0debb6">gMasterConfig</a>;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../d3/dfa/main__helper_8cpp.html#aead97c99e70c0da7036fbbe230ef68b6">   24</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d3/dfa/main__helper_8cpp.html#aead97c99e70c0da7036fbbe230ef68b6">printUsage</a>() {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  printf(</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <span class="stringliteral">&quot;Usage: robot [robot-id] [sim-or-robot]\n\twhere robot-id:     3 for &quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="stringliteral">&quot;cheetah 3, m for mini-cheetah\n\t      sim-or-robot: s for sim, r for &quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <span class="stringliteral">&quot;robot\n&quot;</span>);</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../d3/dfa/main__helper_8cpp.html#acd1b6ffaae55ecc3c765c38ce5bf3a95">   31</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="../../d3/dfa/main__helper_8cpp.html#acd1b6ffaae55ecc3c765c38ce5bf3a95">main_helper</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv, <a class="code" href="../../d4/d6a/class_robot_controller.html">RobotController</a>* ctrl) {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="../../dd/d6d/_segfault_handler_8h.html#a13a0654cbf892725bd09b7d25d1fe57b">install_segfault_handler</a>();</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordflow">if</span> (argc != 3) {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="../../d3/dfa/main__helper_8cpp.html#aead97c99e70c0da7036fbbe230ef68b6">printUsage</a>();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">return</span> EXIT_FAILURE;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  }</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">if</span> (argv[1][0] == <span class="charliteral">&#39;3&#39;</span>) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (argv[1][0] == <span class="charliteral">&#39;m&#39;</span>) {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="../../d3/dfa/main__helper_8cpp.html#aead97c99e70c0da7036fbbe230ef68b6">printUsage</a>();</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordflow">return</span> EXIT_FAILURE;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  }</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">if</span> (argv[2][0] == <span class="charliteral">&#39;s&#39;</span>) {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#a85f072b2857147c2fdbbbde00bdde2df">simulated</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (argv[2][0] == <span class="charliteral">&#39;r&#39;</span>) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#a85f072b2857147c2fdbbbde00bdde2df">simulated</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="../../d3/dfa/main__helper_8cpp.html#aead97c99e70c0da7036fbbe230ef68b6">printUsage</a>();</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">return</span> EXIT_FAILURE;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  printf(<span class="stringliteral">&quot;[Quadruped] Cheetah Software\n&quot;</span>);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  printf(<span class="stringliteral">&quot;        Quadruped:  %s\n&quot;</span>,</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;         gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a> == <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a> ? <span class="stringliteral">&quot;Mini Cheetah&quot;</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                                                         : <span class="stringliteral">&quot;Cheetah 3&quot;</span>);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  printf(<span class="stringliteral">&quot;        Driver: %s\n&quot;</span>, gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#a85f072b2857147c2fdbbbde00bdde2df">simulated</a></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                                     ? <span class="stringliteral">&quot;Development Simulation Driver&quot;</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                                     : <span class="stringliteral">&quot;Quadruped Driver&quot;</span>);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// dispatch the appropriate driver</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#a85f072b2857147c2fdbbbde00bdde2df">simulated</a>) {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">if</span> (gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a> == <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a>) {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="../../d8/d3a/class_simulation_bridge.html">SimulationBridge</a> simulationBridge(gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a>, ctrl);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      simulationBridge.<a class="code" href="../../d8/d3a/class_simulation_bridge.html#a0a9846e88d9afe3370ffe10db348a366">run</a>();</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      printf(<span class="stringliteral">&quot;[Quadruped] SimDriver run() has finished!\n&quot;</span>);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a> == <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a>) {</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <a class="code" href="../../d8/d3a/class_simulation_bridge.html">SimulationBridge</a> simulationBridge(gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a>, ctrl);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      simulationBridge.<a class="code" href="../../d8/d3a/class_simulation_bridge.html#a0a9846e88d9afe3370ffe10db348a366">run</a>();</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      printf(<span class="stringliteral">&quot;[ERROR] unknown robot\n&quot;</span>);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      assert(<span class="keyword">false</span>);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">if</span> (gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a> == <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a>) {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <a class="code" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html">MiniCheetahHardwareBridge</a> hw(ctrl);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      hw.<a class="code" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html#a685c0e118f44327e7734119bd232d484">run</a>();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      printf(<span class="stringliteral">&quot;[Quadruped] SimDriver run() has finished!\n&quot;</span>);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (gMasterConfig.<a class="code" href="../../d6/d5c/struct_master_config.html#ad436bc502743082fa2468de5e4f74905">_robot</a> == <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a>) {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      printf(<span class="stringliteral">&quot;[ERROR] can&#39;t do cheetah 3 hardware\n&quot;</span>);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      assert(<span class="keyword">false</span>);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      printf(<span class="stringliteral">&quot;[ERROR] unknown robot\n&quot;</span>);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      assert(<span class="keyword">false</span>);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a></div></div>
<div class="ttc" id="struct_master_config_html_a85f072b2857147c2fdbbbde00bdde2df"><div class="ttname"><a href="../../d6/d5c/struct_master_config.html#a85f072b2857147c2fdbbbde00bdde2df">MasterConfig::simulated</a></div><div class="ttdeci">bool simulated</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/db6/_types_8h_source.html#l00008">Types.h:8</a></div></div>
<div class="ttc" id="_hardware_bridge_8h_html"><div class="ttname"><a href="../../d6/dd5/_hardware_bridge_8h.html">HardwareBridge.h</a></div><div class="ttdoc">Interface between robot code and robot hardware. </div></div>
<div class="ttc" id="class_robot_controller_html"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html">RobotController</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00010">RobotController.h:10</a></div></div>
<div class="ttc" id="class_mini_cheetah_hardware_bridge_html"><div class="ttname"><a href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html">MiniCheetahHardwareBridge</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00072">HardwareBridge.h:72</a></div></div>
<div class="ttc" id="class_simulation_bridge_html"><div class="ttname"><a href="../../d8/d3a/class_simulation_bridge.html">SimulationBridge</a></div><div class="ttdef"><b>Definition:</b> <a href="../../db/d55/_simulation_bridge_8h_source.html#l00018">SimulationBridge.h:18</a></div></div>
<div class="ttc" id="main__helper_8cpp_html_aead97c99e70c0da7036fbbe230ef68b6"><div class="ttname"><a href="../../d3/dfa/main__helper_8cpp.html#aead97c99e70c0da7036fbbe230ef68b6">printUsage</a></div><div class="ttdeci">void printUsage()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dfa/main__helper_8cpp_source.html#l00024">main_helper.cpp:24</a></div></div>
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<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a></div></div>
<div class="ttc" id="_segfault_handler_8h_html_a13a0654cbf892725bd09b7d25d1fe57b"><div class="ttname"><a href="../../dd/d6d/_segfault_handler_8h.html#a13a0654cbf892725bd09b7d25d1fe57b">install_segfault_handler</a></div><div class="ttdeci">void install_segfault_handler()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d17/_segfault_handler_8cpp_source.html#l00025">SegfaultHandler.cpp:25</a></div></div>
<div class="ttc" id="class_simulation_bridge_html_a0a9846e88d9afe3370ffe10db348a366"><div class="ttname"><a href="../../d8/d3a/class_simulation_bridge.html#a0a9846e88d9afe3370ffe10db348a366">SimulationBridge::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/da6/_simulation_bridge_8cpp_source.html#l00013">SimulationBridge.cpp:13</a></div></div>
<div class="ttc" id="_simulation_bridge_8h_html"><div class="ttname"><a href="../../db/d55/_simulation_bridge_8h.html">SimulationBridge.h</a></div></div>
<div class="ttc" id="main__helper_8cpp_html_acd1b6ffaae55ecc3c765c38ce5bf3a95"><div class="ttname"><a href="../../d3/dfa/main__helper_8cpp.html#acd1b6ffaae55ecc3c765c38ce5bf3a95">main_helper</a></div><div class="ttdeci">int main_helper(int argc, char **argv, RobotController *ctrl)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dfa/main__helper_8cpp_source.html#l00031">main_helper.cpp:31</a></div></div>
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